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unitree_SDK/include/unitree/common/filesystem/file.hpp

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+#ifndef __UT_FILE_HPP__
+#define __UT_FILE_HPP__
+
+#include <unitree/common/filesystem/filesystem.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class File
+{
+public:
+    File();
+    File(const std::string& fileName);
+    File(const std::string& fileName, int32_t flag);
+    File(const std::string& fileName, int32_t flag, uint32_t mode);
+
+    virtual ~File();
+
+    int32_t GetFd() const;
+    bool IsOpen() const;
+
+    void Open();
+    void Open(int32_t flag, uint32_t mode = UT_OPEN_MODE_NONE);
+    void Open(const std::string& fileName, int32_t flag = UT_OPEN_FLAG_R,
+        uint32_t mode = UT_OPEN_MODE_NONE);
+
+    void Append(const char* s, int64_t len);
+    int64_t Write(const char* s, int64_t len);
+    int64_t Write(const std::string& s);
+
+    int64_t Read(char* s, int64_t len);
+    int64_t Read(std::string& s, int64_t len);
+    int64_t ReadAll(std::string& s);
+
+    void SeekBegin();
+    void SeekEnd();
+    void Seek(int64_t offset, int64_t whence);
+
+    void Sync();
+    void Truncate(int64_t len);
+
+    void Close();
+
+    int64_t Size() const;
+
+private:
+    void CheckOpen();
+    void OpenInner();
+
+private:
+    std::string mFileName;
+    int32_t mFd;
+    int32_t mFlag;
+    uint32_t mMode;
+};
+
+typedef std::shared_ptr<File> FilePtr;
+
+class MMReadFile
+{
+public:
+    MMReadFile();
+    MMReadFile(const std::string& fileName);
+
+    virtual ~MMReadFile();
+
+    int32_t GetFd() const;
+    bool IsOpen() const;
+
+    void Open();
+    void Open(const std::string& fileName);
+
+    int64_t Size() const;
+    int64_t Read(char* s, int64_t len);
+    int64_t Read(std::string& s, int64_t len);
+    int64_t ReadAll(std::string& s);
+
+    void Seek(int64_t offset);
+
+    void Close();
+
+public:
+    void* MMRead(int64_t len, int64_t& canreadlen);
+    void MMClose(void* ptr, int64_t len);
+
+private:
+    void Init();
+
+private:
+    std::string mFileName;
+    int32_t mFd;
+    int64_t mOffset;
+    int64_t mSize;
+};
+
+typedef std::shared_ptr<MMReadFile> MMReadFilePtr;
+
+//Functions
+bool ExistFile(const std::string& fileName);
+
+std::string LoadFile(const std::string& fileName);
+std::string LoadFileEx(const std::string& fileName);
+
+void SaveFile(const std::string& fileName, const char* s, int64_t len,
+    uint32_t mode = UT_OPEN_MODE_RW);
+
+void SaveFile(const std::string& fileName, const std::string& s,
+    uint32_t mode = UT_OPEN_MODE_RW);
+
+void AppendFile(const std::string& fileName, const char* s, int64_t len,
+    uint32_t mode = UT_OPEN_MODE_RW);
+
+void AppendFile(const std::string& fileName, const std::string& s,
+    uint32_t mode = UT_OPEN_MODE_RW);
+
+int64_t GetFileSize(const std::string& fileName);
+
+void RemoveFile(const std::string& fileName);
+
+int64_t MMLoadFile(const std::string& fileName, std::string& s);
+
+bool CopyFile(const std::string& fileName, const std::string& destFileName, bool deeply = false);
+}
+}
+
+#endif//__UT_FILE_HPP__